Systems and assemblies for mounting a surgical accessory to robotic surgical systems, and providing access therethrough

ABSTRACT

A mount assembly for use with a robotic system is provided and includes a housing for coupling to a robot arm; a coupling assembly supported by the housing and including first and second arms, the coupling assembly transitionable between open and closed configurations, wherein in the closed configuration the first and second arms are configured to secure a surgical accessory; a release assembly supported by the housing and engageable with the coupling assembly, the release assembly transitionable between a locked configuration and an unlocked configuration; and a communication assembly supported by the housing and configured for communication with the robotic system with respect to a status of the coupling assembly corresponding to the open and closed configuration thereof and a status of the release assembly corresponding to the locked and unlocked configuration thereof

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.16/771,756 filed Jun. 11, 2020, which is a U.S. National StageApplication filed under 35 U.S.C. § 371(a) of International PatentApplication Serial No. PCT/US2019/012045, filed Jan. 2, 2019, whichclaims the benefit of and priority to U.S. Provisional PatentApplication Ser. No. 62/613,601, filed Jan. 4, 2018, the entire contentsof each of which being incorporated by reference herein.

BACKGROUND

Robotic surgical systems have been used in minimally invasive medicalprocedures. Some robotic surgical systems include a robot arm having aninstrument drive assembly coupled thereto for coupling surgicalinstruments to the robot arm, such as, for example, a pair of jawmembers, electrosurgical forceps, cutting instruments, or any otherendoscopic or open surgical devices, and a mount assembly coupledthereto for coupling surgical accessories to the robot arm, such as, forexample, a trocar or surgical port (hereinafter “surgical port”), anoptical device, or the like.

Prior to or during use of the robotic system, surgical instruments areselected and connected to the instrument drive assembly of each robotarm, where the instrument drive assembly can drive the actuation of anend effector of the surgical instrument. Under certain procedures, asurgical accessory, such as, for example, an optical device or asurgical port may be coupled to the robot arm via the mount assembly ofthe robot arm. During a procedure, the end effector and/or a portion ofthe surgical instrument may be inserted through the surgical port, and asmall incision or a natural orifice of a patient, to bring the endeffector proximate a working site within the body of the patient. Suchsurgical ports may provide additional stability, and act as a guidechannel, for the surgical instrument during insertion and actuation ofthe end effector.

Accordingly, there is a need for a mount assembly which provides quickand easy connection between the robot arm and a variety of surgicalaccessories, such as a surgical port or optical device.

SUMMARY

The present disclosure relates to mount assemblies and access devicesfor surgical robotic systems.

According to an aspect of the present disclosure, a mount assembly foruse with a robotic system is provided. The mount assembly includes ahousing configured to couple to a robot arm of a robotic system; acoupling assembly supported by the housing and including a first arm anda second arm, the coupling assembly transitionable between open andclosed configurations, wherein in the open configuration first andsecond arms pivot into a relatively more spaced apart relation withrespect to one another, and in the closed configuration first and secondarms pivot into a relatively more approximated relation with respect toone another. In the closed configuration the first and second arms areconfigured to secure a surgical port to the robot arm. A releaseassembly is supported by the housing and is engageable with the couplingassembly, the release assembly transitions between a lockedconfiguration and an unlocked configuration with respect to the couplingassembly. In the locked configuration of the release assembly the firstand second arms of the coupling assembly are fixed in the closedconfiguration. A communication assembly is supported by the housing andis configured for communication with the robotic system with respect toa status of the coupling assembly corresponding to the open and closedconfiguration thereof and to a status of the release assemblycorresponding to the locked and unlocked configuration thereof.

The communication assembly may include a release assembly sensor switchconfigured for selective engagement with the release assembly. Thus,when the release assembly transitions to the locked configuration therelease assembly sensor switch is engaged. The communication assemblymay also include a button pivotably disposed within a cavity of thesecond arm of the coupling assembly, the button configured forengagement by a surgical port secured between first and second arms ofthe coupling assembly. The communication assembly may include a presencesensor switch configured for selective engagement with the button,wherein when the button is engaged by the surgical port the buttonpivots into engagement with the presence sensor switch.

The mount assembly may further include a latch plate coupled between therelease assembly and the coupling assembly. In the locked configurationof the release assembly the latch plate may be positioned for engagementwith a portion of the first arm of the coupling assembly. In theunlocked configuration of the release assembly the latch plate may bepositioned for disengagement with the portion of the first arm of thecoupling assembly.

The coupling assembly may include a biasing member coupled between thefirst and second arms, the biasing member configured to bias thecoupling assembly into one of the open or closed configurations.

The first arm of the coupling assembly may be pivotably coupled to aportion of the second arm, and the second arm may be fixedly supportedby the housing.

The first and second arms may be pivotably coupled to the housing.

The release assembly may include a biasing member configured to bias therelease assembly into one of the locked or unlocked configurations.

The release assembly may include a first actuation lever coupled to thefirst arm of the coupling assembly and a second actuation lever coupledto the second arm of the coupling assembly. The first and secondactuation levers may be configured to transition the first and secondarms of the coupling assembly between the open and closedconfigurations, and the locked and unlocked configurations.

Each of the first and second arms may include an engagement regionthereon configured to engage a surgical port while in the closedconfiguration of the coupling assembly. The engagement regions of thefirst and second arms may define a complementary shape with respect toan outer surface of a surgical port.

Each of the engagement regions may define an inner surface and mayinclude a flange extending therefrom. The flange may be configured toengage a portion of a surgical port while in the closed configuration ofthe coupling assembly.

According to a further aspect of the present disclosure, a roboticsystem is provided and includes a surgical port configured to receive asurgical instrument therethrough. The surgical port includes a sealhousing having an engagement region disposed about an external radialsurface thereof; a seal cover having a plurality of lobes radiallydisposed along a distal portion thereof, each lobe of the plurality oflobes including a key feature thereon and a cannula assembly having aplurality of key features radially disposed along a proximal portionthereof. Each respective key feature of the cannula assemblycorresponding to, and configured to engage with, a key feature of arespective lobe of the plurality of lobes of the seal cover. Thesurgical port further includes a central lumen defined by an innersurface of each of the seal housing, the seal cover, and the cannulaassembly. A seal assembly is coupled between the seal housing and theseal cover and a cannula seal is coupled between the seal cover and thecannula assembly. The seal assembly and the cannula seal are configuredto maintain a fluidic seal within the central lumen of the surgicalport.

The robotic system further includes a mount assembly configured tocouple to a robot arm of the robotic system. The mount assembly includesa coupling assembly including a first arm and a second arm, the couplingassembly transitionable between open and closed configurations. In theopen configuration first and second arms pivot into relatively morespaced relation with respect to one another. In the closed configurationfirst and second arms pivot into a relatively more approximated relationwith respect to one another. In the closed configuration the first andsecond arms selectively secure the engagement region of the seal housingof the surgical port therebetween. A release assembly is engaged withthe coupling assembly and is transitionable between a lockedconfiguration and an unlocked configuration with respect to the couplingassembly. In the locked configuration of the release assembly the firstand second arms of the coupling assembly are pivotably fixed in theclosed configuration.

The mount assembly may further include a communication assemblyconfigured for communication with the robotic system with respect to astatus of the coupling assembly corresponding to the open and closedconfiguration thereof and a status of the release assembly correspondingto the locked and unlocked configuration thereof.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present disclosure are described herein withreference to the accompanying drawings, wherein:

FIG. 1A is a schematic illustration of a medical work station and anoperating console in accordance with the present disclosure;

FIG. 1B is an exemplary illustration of a cart supporting a robot arm ofthe medical work station of FIG. 1A, the robot arm supporting a mountassembly and a surgical part at a distal end thereof;

FIG. 2 is a perspective view of a mount assembly in accordance with anembodiment of the present disclosure with a sterile drape and a surgicalpart uncoupled therefrom;

FIG. 3 is perspective view of the mount assembly of FIG. 2 with thesterile drape and the surgical part coupled therewith;

FIG. 4 is a perspective view of the mount assembly of FIG. 2, with partsseparated;

FIG. 5 is a perspective view of the mount assembly of FIG. 2, withvarious parts removed;

FIG. 6 is a perspective view of an embodiment of a coupling assembly inaccordance with the present disclosure of the mount assembly of FIG. 2,with parts separated;

FIG. 7 is a side perspective view of a movable arm of the couplingassembly of FIG. 6;

FIG. 8 is a side perspective view of a fixed arm of the couplingassembly of FIG. 6;

FIG. 9A is a front perspective view of the coupling assembly of FIG. 6,in a closed configuration, with the movable arm of FIG. 7 shown inphantom;

FIG. 9B is a front perspective view of the area of detail of FIG. 9A,with a latch plate of the coupling assembly of FIG. 6 in an engagedposition;

FIG. 10A is a front perspective view of the coupling assembly of FIG. 6,in an open configuration, with the movable arm of FIG. 7 shown inphantom;

FIG. 10B is a front perspective view of the area of detail of FIG. 10A,with the latch plate of the coupling assembly of FIG. 6 in a disengagedposition;

FIG. 11A is a front perspective view of a distal portion of the mountassembly of FIG. 2, with a button of a communication assembly of themount assembly in a first position;

FIG. 11B is a cross-sectional view of the mount assembly of FIG. 11Ataken along section line 11B-11B of FIG. 11A;

FIG. 12A is a front perspective view of the distal portion of the mountassembly of FIG. 2, with the button of the communication assembly in asecond position;

FIG. 12B is a cross-sectional view of the mount assembly of FIG. 12Ataken along section line 12B-12B of FIG. 12A;

FIG. 13A is a perspective view of the mount assembly of FIG. 2, with anembodiment of a coupling assembly in accordance with the presentdisclosure, shown in an open configuration;

FIG. 13B is a perspective view of the mount assembly of FIG. 2, and thecoupling assembly of FIG. 13B shown in a closed configuration;

FIG. 14A is a perspective view of the mount assembly of FIG. 2, withanother embodiment of a coupling assembly in accordance with the presentdisclosure, uncoupled from a surgical port;

FIG. 14B is a perspective view of the mount assembly of FIG. 2 and thecoupling assembly of FIG. 13B, coupled with a surgical port;

FIG. 15 is a cross-sectional view of the mount assembly of FIG. 2 andthe surgical port of FIG. 14B taken along the section line 15-15 of FIG.14B;

FIG. 16 is a perspective view of a surgical port in accordance with thepresent disclosure;

FIG. 17 is a cross-sectional view of the surgical port of FIG. 16 takenalong the section line 17-17 of FIG. 16;

FIG. 18 is a cross-sectional view of the mount assembly of FIG. 3 andthe surgical port of FIG. 16 taken along section line 18-18 of FIG. 3;

FIG. 19 is a bottom perspective view of an embodiment of a seal cover ofthe surgical port of FIG. 16 in accordance with the present disclosure;

FIG. 20 is a top perspective view of an embodiment of a cannula assemblyof the surgical port of FIG. 16 in accordance with the presentdisclosure;

FIG. 21 is a perspective view, with parts separated, of the surgicalport of FIG. 16, with an embodiment of a seal cover and a cannulaassembly in accordance with the present disclosure;

FIG. 22A is a top perspective view of the seal cover of FIG. 21;

FIG. 22B is a bottom perspective view of the seal cover of FIG. 21;

FIG. 23 is a perspective view of the surgical port of FIG. 16, with anembodiment of a seal housing and an adapter shell in accordance with thepresent disclosure;

FIG. 24 is a perspective view of the surgical port of FIG. 23 with theadapter shell removed;

FIG. 25 is a cross-sectional view of the surgical port of FIG. 23 takenalong section line 25-25 of FIG. 23;

FIG. 26 is a cross-sectional view of the surgical port of FIG. 24 takenalong section line 26-26 of FIG. 24;

FIG. 27 is a cross-sectional view of the mount assembly of FIG. 13B andthe surgical port of FIG. 23 taken along section line 27-27 of FIG. 13B;

FIG. 28 is a perspective view, with some parts separated, of thesurgical port of FIG. 16, with an embodiment of a mount adapter inaccordance with the present disclosure;

FIG. 29 is a cross-sectional view of the mount assembly of FIG. 14A andthe surgical port of FIG. 28 taken along section line 29-29 of FIG. 14A;and

FIG. 30 is a perspective view of another embodiment of a mount assemblyshown coupled to and supporting a surgical port.

DETAILED DESCRIPTION

Embodiments of the presently disclosed mount assembly and surgical portare described in detail with reference to the drawings, in which likereference numerals designate identical or corresponding elements in eachof the several views. As is used in the art, the term “distal” refers toa position of an instrument, or portion thereof, which is farther fromthe user, and the term “proximal” refers to a position of an instrument,or portion thereof, which is closer to the user.

Referring initially to FIGS. 1A and 1B, a medical work station is showngenerally as work station 1 and generally includes a plurality of robotarms 2, 3; a control device 4; and an operating console 5 coupled withcontrol device 4. Operating console 5 includes a display device 6, whichis set up in particular to display three-dimensional images; and manualinput devices 7, 8, by means of which a person (not shown), for examplea surgeon, is able to telemanipulate robot arms 2, 3 in a firstoperating mode, as known in principle to a person skilled in the art.

Each of the robot arms 2, 3 may be supported by a respective cart “C”,and may include a plurality of members, which are connected throughjoints, and an instrument control unit “ICU”, to which may be attached,for example, an instrument drive assembly of a surgical instrument “SI”,the surgical instrument “SI” supporting an end effector (not shown)including, for example, a pair of jaw members, electrosurgical forceps,cutting instruments, or any other endoscopic or open surgical devices.For a detailed discussion and illustrative examples of the constructionand operation of an end effector for use with instrument control unit“ICU”, reference may be made to commonly owned International PatentApplication No. PCT/US14/61329, filed on Oct. 20, 2014, and entitled“Wrist and Jaw Assemblies for Robotic Surgical Systems,” and U.S.Provisional Patent Application No. 62/341,714, filed on May 26, 2016,entitled “Robotic Surgical Assemblies,” the entire content of each ofwhich being incorporated herein by reference.

Robot arms 2, 3 may be driven by electric drives (not shown) that areconnected to control device 4. Control device 4 (e.g., a computer) isset up to activate the drives, in particular by means of a computerprogram, in such a way that robot arms 2, 3, instrument control units“ICU”, and thus the surgical instruments “SI” execute a desired movementor articulation according to a movement defined by means of manual inputdevices 7, 8. Control device 4 may also be set up in such a way that itregulates the movement of robot arms 2, 3 and/or of the drives.

Medical work station 1 is configured for use on a patient 13 lying on apatient table 12 to be treated in an open surgery, or a minimallyinvasive manner, by means of surgical instrument “SI”. Medical workstation 1 may also include more than two robot arms 2, 3, the additionalrobot arms likewise being connected to control device 4 and beingtelemanipulatable by means of operating console 5. An instrument controlunit and a surgical instrument may also be attached to the additionalrobot arm. Medical work station 1 may include a database 14, inparticular coupled to or with control device 4, in which pre-operativedata from patient 13 and/or anatomical atlases, for example, may bestored.

For a detailed discussion of the construction and operation of medicalwork station 1 reference may be made to U.S. Pat. No. 8,828,023, filedon Nov. 3, 2011 and entitled “Medical Workstation,” the entire contentof which is incorporated herein by reference.

Control device 4 may control a plurality of motors (e.g., “M1”-“M6”).Motors “M” may be part of instrument control unit “ICU” and/or disposedexternally of instrument control unit “ICU”. In use, as motors “M” aredriven, movement and/or articulation of the instrument drive assembly ofsurgical instrument “SI”, and an end effector attached thereto, iscontrolled. It is further envisioned that at least one motor “M”receives signals wirelessly (e.g., from control device 4). It iscontemplated that control device 4 coordinates the activation of thevarious motors (Motor 1 . . . n) to coordinate an operation, movement,and/or articulation of robot arms 2, 3 and/or surgical instrument “SI”.It is envisioned that each motor may correspond to a separate degree offreedom of robot arms 2, 3, and/or surgical instrument “SI” engaged withinstrument control unit “ICU”. It is further envisioned that more thanone motor, including every motor (Motor 1 . . . n), is used for eachdegree of freedom.

With continued reference to FIG. 1B, robot arm 2 may include a mountassembly coupled at a distal portion 2 a of robot arm 2, whereby itshould be appreciated that any of robot arms 2, 3 may alternatively oradditionally include a respective mount assembly coupled thereto. Asdiscussed herein, the mount assembly is configured to releasably couplea surgical accessory to robot arm 2. It should be appreciated that themount assembly may be configured to releasably couple a variety ofsurgical accessories to robot arm 2, such as, for example a trocar, asurgical port, an optical device, or the like. For the sake of brevity,the mount assembly will be discussed herein with respect to a surgicalport. It should be appreciated that if utilized with a surgical port,the mount assembly adds to the stability to a surgical instrument passedtherethrough. During a surgical procedure, surgical instruments mayundergo undesired reaction loading as a result of forces exerted uponthe surgical instrument by a natural orifice or the surrounding tissueof an incision, such as, for example, an incision through an abdominalwall. By utilizing the mount assembly and a surgical port, the mountassembly will assist in inhibiting the transfer of such forces upon thesurgical instrument minimizing instrument deflection.

With references to FIGS. 2-12B, an embodiment of a mount assembly willbe described with reference to a mount assembly 100 which includes ahousing 110, a coupling assembly 120, and a release assembly 190 (FIGS.4-5 and 9A-10B). Housing 110 includes a first half 112 releasablycoupled to a second half 114 such that, when coupled to one another, acavity 116 is defined therebetween. A proximal portion 111 of first half112 of housing 110 is releasably couplable to distal portion 2 a ofrobot arm 2, such that mount assembly 100 is thereby releasably coupledto robot arm 2. Coupling assembly 120 is supported by a distal portion113 of second half 114 of housing 110, disposed within cavity 116, andextends distally from a distal portion 115 of cavity 116. Releaseassembly 190 is supported by housing 110, is disposed within cavity 116,and extends therefrom through an opening 117 defined by first and secondhalves 112, 114 of housing 110.

With reference to FIGS. 4-8, coupling assembly 120 is configured toreleasably engage a surgical port 1000 (FIGS. 16-21). Coupling assembly120 is transitionable between a closed configuration (FIG. 9A), forengagement with the surgical port 1000, and an open configuration (FIG.10A), for disengagement with surgical port 1000, such that the surgicalport 1000 is releasably secured to robot arm 2. Coupling assembly 120includes a fixed arm 122, a movable arm 132, and a latch plate 160.Fixed arm 122 includes a support portion 124 configured to reside withindistal portion 113 of second half 114 of housing 110, and an engagementportion 126 extending distally therefrom. Movable arm 132 includes asupport portion 134 configured to reside within distal portion 113 ofsecond half 114 of housing 110, and an engagement portion 136 extendingdistally therefrom. It is envisioned that engagement portions 126, 136of fixed and movable arms 122, 132 define a complementary shape withrespect to an outer surface of surgical port 1000, as discussed herein,or any alternative surgical accessory which may be coupled to robot arm2 via coupling assembly 120 of mount assembly 100. As an exemplaryillustration, engagement portions 126, 136 may define generally arcuateinner surfaces 127, 137, respectively, such that a surgical portdefining a generally circular outer profile may be received betweenfixed and movable arm 122, 132, in a clamping fashion, and come intoabutment with engagement portions 126, 136. Engagement portions 126, 136may further include a flange 128, 138 extending therefrom, respectively,which is configured to engage a portion of surgical port 1000 positionedbetween fixed and movable arms 122, 132, as discussed further below,such that linear translation of surgical port 1000, with respect tofixed and movable arms 122, 132, is thereby inhibited.

With continued reference to FIGS. 6-8, support portion 134 of movablearm 132 is pivotably coupled to support portion 124 of fixed arm 122.Movable arm 132 includes a pivot bore 142 defined through supportportion 134 thereof. Fixed arm 122 includes a bore 144 defined throughsupport portion 124 thereof. A pivot pin 140 is disposed within pivotbore 142 defined through support portion 134 of movable arm 132, andwithin bore 144 defined through support portion 124 of fixed arm 122,and thus pivotably couples movable arm 132 to fixed arm 122 about pivotpin 140, pivot bore 142, and bore 144. As movable arm 132 pivots aboutpivot pin 140 engagement portion 136 of movable arm 132 is caused totransition between a position proximate engagement portion 126 of fixedarm 122, which corresponds to the closed configuration of couplingassembly 120 (FIG. 9A), and a position spaced away from engagementportion 126 of fixed arm 122, which corresponds to the openconfiguration of coupling assembly 120 (FIG. 10A).

With reference to FIGS. 9A and 10A, the transition of coupling assembly120 between the closed and open configurations will be furtherdiscussed. It should be appreciated that through pivoting of movable arm132, coupling assembly 120 is caused to transition between the closedconfiguration (FIG. 9A) and the open configuration (FIG. 10A). In theclosed configuration of coupling assembly 120, engagement portion 136 ofmovable arm 132 is proximate engagement portion 126 of fixed arm 122 toachieve fixation of surgical port 1000 to robot arm 2, via couplingassembly 120 of mount assembly 100. In the open configuration ofcoupling assembly 120, engagement portion 136 of movable arm 132 isspaced away from engagement portion 126 of fixed arm 122 to receive orrelease surgical port 1000 therefrom. Thus, in the closed configurationof coupling assembly 120, surgical port 1000 is secured to robot arm 2,and in the open configuration of clamping assembly 120, surgical port1000 is unsecured from robot arm 2.

Coupling assembly 120 may further include a biasing member 145 (FIGS. 5and 6) coupled between support portion 134 of movable arm 132 andsupport portion 124 of fixed arm 122, such that engagement portion 136of movable arm 132 is biased into a position proximate to, or spacedaway from, engagement portion 126 of fixed arm 122. Accordingly, biasingmember 145 acts to bias coupling assembly 120 into one of the closed oropen configurations.

With continued reference to FIGS. 6 and 9A-10B, movable arm 132 furtherincludes a latch pin bore 146 defined through support portion 134thereof, and fixed arm 122 further includes a cam slot 150 definedthrough support portion 124 thereof. A latch plate pin 148 is disposedwithin latch pin bore 146 of movable arm 132, and is slidably disposedwithin cam slot 150 of fixed arm 122. As movable arm 132 pivots aboutpivot pin 140, latch plate pin 148 is caused to slide within cam slot150 of fixed arm 122.

Coupling assembly 120 includes a latch plate 160 having an engagementpin 162 extending from a first end portion 161 thereof, a pivot pin 164extending from a second end portion 163 thereof, and a protrusion 166disposed at a position between first and second end portions 161, 162.Engagement pin 162 is configured to engage a portion of release assembly190, as discussed below, whereas pivot pin 164 is configured topivotably couple latch plate 160 to support portion 124 of fixed arm122.

Latch plate 160 is pivotably transitionable between an engaged position(FIG. 9B) and a disengaged position (FIG. 10B), whereby protrusion 166of latch plate 160 engages latch plate pin 148 in the engaged position.Through actuation of release assembly 190, as discussed below,protrusion 166 transitions between positions for engagement with latchplate pin 148 and disengagement with latch plate pin 148. Accordingly,with protrusion 166 of latch plate 160 positioned for engagement withlatch plate pin 148 (FIG. 9B), latch plate pin 148 is inhibited fromsliding within cam slot 150 of fixed arm 122, and thus, movable arm 132coupled to latch plate pin 148 is inhibited from pivoting. Withprotrusion 166 of latch plate 160 positioned for disengagement withlatch plate pin 148 (FIG. 10B), latch plate pin 148 may freely slidewithin cam slot 150 of fixed arm 122, and thus, movable arm 132 coupledto latch plate pin 148 may freely pivot. As dictated by the position oflatch plate 160, movable arm 132 is either inhibited from, or freelycapable of, pivoting with respect to fixed arm 122. Thus, the positionof latch plate 160 directs coupling assembly 120 into one of a locked orunlocked configuration, whereby in the locked configuration movable arm132 is inhibited from pivoting and in the unlocked configuration movablearm 132 may freely pivot.

As discussed further below, through actuation of release assembly 190,release assembly 190 selectively transitions latch plate 160 between theengaged and disengaged positions, and thus, transitions couplingassembly 120 between the locked configuration and the unlockedconfiguration, via the engagement or disengagement of latch plate 160and latch plate pin 148. With coupling assembly 120 in the lockedconfiguration, coupling assembly 120 is inhibited from transitioningbetween the open and closed configurations, e.g., movable arm 132 isinhibited from pivoting with respect to fixed arm 122. With couplingassembly 120 in the unlocked configuration, coupling assembly 120 mayfreely transition between the open and closed configurations, e.g.,movable arm 132 may freely pivot with respect to fixed arm 122.

With reference to FIGS. 4, 5, and 9A-10B, release assembly 190 includesa slide 192 disposed within cavity 116 of housing 110 and supported bysecond half 114 of housing 110. Slide 192 includes a latch plate recess194 defined along a distal edge portion 193, an engagement portion 196disposed on an external surface 195 thereof which is positionedexternally of cavity 116 through port 117 of housing 110, and a biasmember recess 197 extending from an internal surface 199 thereof. Latchplate recess 194 is configured to receive and engage engagement pin 162of latch plate 160. Release assembly 190 further includes a biasingmember 198 disposed within bias member recess 197 configured to engage aportion of housing 110.

Slide 192 of release assembly 190 is configured to slide between firstand second positions along an axis “S” being transverse to alongitudinal axis “L” of housing 110 (FIG. 3). In the first position ofslide 192, engagement portion 196 is positioned externally of cavity 116of housing 110 (FIG. 9A). In the second position of slide 192,engagement portion 196 partially resides within cavity 116 of housing110 (FIG. 10A). As slide 192 translates along axis “S” between first andsecond positions, it should be appreciated that latch plate recess 194of slide 192 translates or slides along an axis being parallel to axis“S”. As latch plate recess 194 slides parallel to axis “S”, engagementpin 162 of latch plate 160, being engaged with latch plate recess 194,is caused to translate along axis “S”, thus causing latch plate 160 topivot.

As discussed above, as latch plate 160 pivots, protrusion 166 of latchplate 160 transitions between the engaged and disengaged positions, withrespect to latch plate pin 148. Accordingly, as slide 192 translatesalong axis “S”, protrusion 166 of latch plate 160 is brought into or outof the engaged and disengaged positions to engage or disengage latchplate pin 148. More particularly, with slide 192 in the first position,protrusion 166 of latch plate 160 is in the engaged position such thatprotrusion 166 obstructs or otherwise inhibits latch plate pin 148 fromsliding within cam slot 150, and thus, movable arm 132 is inhibited frompivoting with respect to fixed arm 122, and coupling assembly 120 is inthe locked configuration. As slide 192 translates along axis “S” fromthe first position towards the second position, latch plate recess 194engages and drives engagement pin 162 of latch plate 160 such that latchplate 160 is caused to pivot. As latch plate 160 pivots, protrusion 166of latch plate 160 is caused to pivot into the disengaged position. Withprotrusion 166 of latch plate 160 in the disengaged position, latchplate pin 148 is free to slide within cam slot 150, and thus, movablearm 132 is free to pivot with respect to fixed arm 122, such thatcoupling assembly 120 is in the unlocked configuration. Accordingly,through translation of slide 192, coupling assembly 120 is transitionedbetween the locked configuration and the unlocked configuration.

Biasing member 198 of release assembly 190 is configured to bias slide192 into one of the first or second positions. With slide 192 biasedinto one of the first or second positions, slide 192 biases latch plate160 into one of the engaged or disengages positions, via coupling oflatch plate recess 194 of slide 192 and engagement pin 162 of latchplate 160. Thus, protrusion 166 of latch plate 160 is biased into one ofthe engaged or disengaged positions, with respect to latch plate pin148. As a result thereof, release assembly 190 thereby biases thecoupling assembly 120 into one of the locked or unlocked configurations.

With reference to FIGS. 1-10B, the coupling and uncoupling of a surgicalport with mount assembly 100 will be described. With coupling assembly120 in the closed and locked configurations (FIGS. 9A and 9B), releaseassembly 190 is actuated to transition coupling assembly 120 into theunlocked configuration. Slide 192 of release assembly 190 is translatedalong axis “S” from the first position towards the second position (FIG.10A), such that latch plate 160 is caused to pivot, thus transitioningprotrusion 166 of latch plate 160 from the engaged position into thedisengaged position, with respect to latch plate pin 148 (FIG. 10B).With protrusion 166 in the disengaged position, latch plate pin 148 mayslide within cam slot 150 and movable arm 132 may be pivoted. As movablearm 132 pivots, coupling assembly 120 may assume the open configuration.

With coupling assembly 120 in the open configuration, a surgical port(e.g., surgical port 1000) may be positioned between engagement portions126, 136 of fixed and movable arms 122, 132. Once positioned betweenengagement portions 126, 136, movable arm 132 may be pivoted towardsfixed arm 122 such that coupling assembly 120 assumes the closedconfiguration. With coupling assembly 120 in the closed configuration,slide 192 is translated along axis “S” from the second position towardsthe first position, thus transitioning coupling assembly 120 into thelocked configuration. With coupling assembly 120 in the closed andlocked configurations, surgical port 1000 is thereby secured to mountassembly 100. The surgical port 1000 is uncoupled from coupling assembly120 in a similar manner, and may thus be uncoupled from mount assembly100.

With reference to FIGS. 2-4, 6, and 9A-12B, mount assembly 100 mayfurther include a communication assembly 200 configured to communicatewith work station 1. More particularly, communication assembly 200provides information to work station 1 regarding the open, closed,locked, and unlocked configuration status of coupling assembly 120, andfurther, provides an indication if a surgical accessory, e.g., asurgical port, is positioned between, or absent from, coupling assembly120.

Communication assembly 200 and work station 1 may be configured forwired or wireless communication. In an embodiment, communicationassembly 200 includes a first pin 202 in electrical communicationtherewith which is disposed on the proximal portion 111 of first half112 of housing 110. Distal portion 2 a of robot arm 2 includes acorresponding second pin (not shown) in communication with work station1, via robot arm 2. With mount assembly 100 and robot arm 2 coupled,communication assembly 200 and work station 1 are communicativelycoupled via engagement of first pin 202 and the second pin (not shown).In an embodiment, communication assembly 200 is configured for wirelesscommunications with work station 1, whereby communication assembly 200and work station 1 are communicatively coupled by any wirelesscommunication method as is known in the art, such as, for example,BlueTooth, ZigBee, near field communication (NFC), WiFi, or the like.

As illustrated in FIG. 4, communication assembly 200 includes a controlboard 210 disposed in cavity 116 of housing 110 and supported by secondhalf 114 of housing 110. Control board 210 includes a release assemblysensor switch 220, a presence sensor switch 230, and a repositioningsensor switch 240. Communication assembly 200 further includes a button232 configured to engage presence sensor switch 230, and a repositioningbutton 242 configured to engage repositioning sensor switch 240, asdiscussed below. Communication assembly 200 may further include anynumber of additional switches and/or sensors, with any number ofcorresponding buttons, with or without corresponding audio and/or visualuser signals (e.g., LED's, buzzers, or the like), each of which mayinclude or provide different or additional functionality.

With reference to FIGS. 9A and 10A, a switch protrusion 222 extendingfrom slide 192 of release assembly 190 is configured to selectivelyengage release assembly sensor switch 220 of control board 210. As slide192 translates along axis “S” between the first and second positions,corresponding to the locked and unlocked configurations of couplingassembly 120, as discussed above, switch protrusion 222 selectivelyengages, abuts, depresses, or otherwise closes release assembly sensorswitch 220.

More particularly, with slide 192 in the first position, thus placingcoupling assembly 120 in the locked configuration, switch protrusion 222is in abutment to, and engaged with release assembly sensor switch 220,such that release assembly sensor switch 220 is depressed (FIG. 9A).With switch protrusion 222 engaged with release assembly sensor switch220, communication assembly 200 provides an indication to work station 1that coupling assembly 120 is in the locked configuration. Conversely,with slide 192 in the second position, thus placing coupling assembly120 in the unlocked configuration, switch protrusion 222 is spaced awayfrom, and disengaged with release assembly sensor switch 220, such thatrelease assembly sensor switch 220 is no longer depressed (FIG. 10A).With switch protrusion 222 disengaged with release assembly sensorswitch 220, communication assembly 200 provides an indication to workstation 1 that coupling assembly 120 is in the unlocked configuration,and thus certain functionality of medical work station 1 may beactivated or deactivated.

With reference to FIGS. 4, 6, 11A-12B, button 232 of communicationassembly 200 is configured to selectively engage presence sensor switch230 of control board 210. Button 232 includes a pivot bore 234, acontact surface 236, and a switch surface 238. Button 232 is supportedby and pivotably coupled to fixed arm 122 of coupling assembly 120 via apin 233 disposed within pivot bore 234 of button 232 and a bore 235defined in support portion 124 of fixed arm 122. Contact surface 236 isreceived within a cavity 237 of support portion 124 of fixed arm 122,whereby cavity 237 extends through support portion 124 such that contactsurface 236 is positionable proximate engagement portion 126 of fixedarm 122. When positioning a surgical port 1000 proximate to and inabutment with fixed arm 122 of coupling assembly 120, the surgical port1000 is thereby brought into abutment with contact surface 236 of button232 of communication assembly 200. Through abutment of surgical port1000 with respect to inner surface 127 of engagement portion 126 offixed arm 122 and contact surface 236 of button 232, button 232 iscaused to pivot, with respect to fixed arm 122, through cavity 237 ofsupport portion 124 of fixed arm 122.

More particularly, button 232 is pivotable about pin 233 and bore 235 offixed arm 122 between a first position (FIGS. 11A and 11B) and a secondposition (FIGS. 12A and 12B). In the first position of button 232,contact surface 236 of button 232 is positioned through cavity 237 offixed arm 122 such that contact surface 236 extends through cavity 237and past inner surface 127 of engagement portion 126 of fixed arm 122.As such, contact surface 236 protrudes from inner surface 127 ofengagement portion 126 of fixed arm 122. In the second position ofbutton 232, contact surface 236 of button 232 is positioned withincavity 237 of fixed arm 122, such that contact surface 236 is nearlyflush with, or planar to inner surface 127 of engagement portion 126 offixed arm 122. It should be appreciated that as a surgical port 1000 isbrought into approximation with engagement portion 126 of fixed arm 122,and more particularly is brought into abutment with inner surface 127,the surgical port 1000 presses against contact surface 236 such thatbutton 232 is caused to pivot about pin 233 and bore 235 from the firstposition (FIG. 11A) towards the second position (FIG. 12A).

With button 232 in the first position, switch surface 238 of button 232is spaced away from, or disengaged from presence sensor switch 230, suchthat presence sensor switch 230 is not depressed (FIG. 11B). With button232 in the first position, and presence sensor switch 230 not depressed,communication assembly 200 provides an indication to work station 1 thatthere is no surgical port positioned between fixed and movable arms 122,132 of coupling assembly 120, and/or that a surgical port is incorrectlypositioned therebetween. With button 232 in the second position, switchsurface 238 of button 232 engages, abuts, depresses, or otherwise closespresence sensor switch 230 (FIG. 12B). With switch surface 238 of button232 engaged with presence sensor switch 230, communication assembly 200provides an indication to work station 1 that a surgical port ispositioned proximate to and in abutment with coupling assembly 120.

By utilizing release assembly sensor switch 220 and presence sensorswitch 230 of communication assembly 200, work station 1 may determinethe operational status and state of mount assembly 100, and provide suchinformation to a user. As noted above, release assembly sensor switch220 provides work station 1 an indication regarding the locked andunlocked state of coupling assembly 120 of mount assembly 100. Presencesensor switch 230 provides work station 1 an indication regarding thepresence, or absence of a surgical port, with respect to couplingassembly 120 of mount assembly 100, and may further provide anindication of incorrect, partial, or misaligned mounting between thesurgical port and the fixed and movable arms 122, 132 of couplingassembly 120. Upon indication from communication assembly 200, workstation 1 may determine if a safe operational condition is present andpermit, for example, articulation of robot arm 2, actuation of surgicalinstrument “SI,” and/or other actions performed during a surgicalprocedure. Conversely, work station 1 may determine if an unsafeoperational condition is present and may, for example, inhibit movementof robot arm 2, inhibit continuation of a procedure, prevent actuationor articulation of surgical instrument “SI”, and/or initiate a warningto a user, via audible or visual indicia utilizing operating console 5.

For example, upon indication from communication assembly 200 that asurgical port is not positioned between coupling assembly 120, viapresence sensor switch 230, and coupling assembly 120 is in either thelocked or unlocked configuration, via release assembly sensor switch220, it may be determined that robot arm 2 is not in use and/or is safeto move. Upon indication from communication assembly 200 that a surgicalport is positioned between coupling assembly 120, via presence sensorswitch 230, and coupling assembly 120 is in the locked configuration,via release assembly sensor switch 220, it may be determined that robotarm 2 is in use, the surgical port is properly engaged with and securedto the coupling assembly 120, and thus, robot arm 2 is ready for thesurgical procedure. Further, upon indication from communication assembly200 that a surgical port is positioned between coupling assembly 120,via presence sensor switch 230, and coupling assembly 120 is in theunlocked configuration, via release assembly sensor switch 220, it maybe determined that robot arm 2 is in use, the surgical port may beimproperly engaged with the coupling assembly 120, coupling assembly 120may not be in a fully closed or locked configuration, and thus, robotarm 2 is not ready for the surgical procedure and requires attentionprior to proceeding. In such a situation, for example, a warning may beissued to the user, movement of robot arm 2 may be inhibited, oractuation of the surgical instrument “SI” may be forestalled.

With reference to FIGS. 2, 3, and 4, repositioning sensor switch 240 andrepositioning button 242 will be discussed. Repositioning button 242 isdisposed in cavity 116 of housing 110 and supported by second half 114of housing 110. Repositioning button 242 is translatably disposed withina bore 244 defined through first half 112 of housing 110, such thatrepositioning button 242 may be engaged by a user. Repositioning button242 translates between a first position, disengaged from repositionsensor switch 240, and a second position, engaged with reposition sensorswitch 240. In the second position, reposition button 242 engages,abuts, depresses, or otherwise closes reposition sensor switch 240.

With reposition button 242 in the second position, and reposition sensorswitch 240 depressed, robot arm 2 may be articulated, moved, orotherwise repositioned. More particularly, in the second position ofreposition button 242, communication assembly 200 directs the motors andcontrollers associated with robot arm 2 to accept manual manipulationfrom a clinician, or automated instructions from work station 1. It isenvisioned that as robot arm 2 undergoes manipulation, with repositionbutton 242 in the second position, robot arm 2 receiveselectro-mechanical assisted motion, such that repositioning of robot arm2 may be facilitated. It should be appreciated that with repositionbutton 242 in the first position, motors and controllers associated withof robot arm 2 maintain a stop, hold, or break condition, such thatmanipulation of robot arm 2 is inhibited.

In an embodiment, communication assembly 200 may incorporate one or morenon-contact sensors, rather than mechanical switches, such as, forexample, a proximity sensor, an optical sensor, a hall-effect sensor, amagnetic sensor or magnetic registration, an induction sensor, aRadio-Frequency Identification (“RFID”) sensor, combinations thereof,and the like. In such an embodiment, any one or more of: releaseassembly sensor switch 220 and switch protrusion 222 of slide 192;presence sensor switch 230 and switch surface 238 of button 232; orrepositioning sensor switch 240 and button 242, may be configured fornon-contact electrical communication therebetween. Accordingly, ratherthan engaging, depressing, abutting or otherwise closing a respectiverelease assembly sensor switch 220, presence sensor switch 230, orrepositioning sensor switch 240, the respective switch protrusion 222,switch surface 238, or button 242 is merely required to come into closeproximity with the respective switch and/or communication assembly 200,whereby communication assembly 200 provides the associated signal towork station 1 and/or robot arm 2.

With reference to FIGS. 13A and 13B, in an embodiment, mount assembly100 includes a coupling assembly 300 configured to receive andselectively affix a surgical port to mount assembly 100, and thus, robotarm 2. Coupling assembly 300 is supported at a distal portion 109 ofhousing 110 of mount assembly 100, and includes first and second arms310, 312 and first and second actuation levers 314, 316. Each of thefirst and second arms 310, 312, and each of the first and secondactuation levers 314, 316, are pivotably coupled to distal portion 109of housing 110. First arm 310 is associated with first actuation lever314, and second arm 312 is associated with second actuation lever 316.As discussed below, first and second actuation levers 314, 316 act as arelease for a respective first and second arm 310, 312, such thatcoupling assembly 300 is transitionable between an open and a closedconfiguration. It is further envisioned that each of first and secondarms 310, 312 defines an engagement portion 318, 320, respectively,configured to engage a portion of a surgical port. Engagement portions318, 320 may be configured to correspond to an outer surface of asurgical port, such that secure fixation between the surgical port andthe coupling assembly 300 may be achieved.

More particularly, first and second arms 310, 312 are pivotable betweenan approximated position (FIG. 13A) and a spaced apart position (FIG.13B), with respect to each other. The spaced apart position of first andsecond arms 310, 312 corresponds to an open configuration of couplingassembly 300 (FIG. 13A), and the approximated position corresponds to aclosed configuration of coupling assembly 300 (FIG. 13B). Further, firstand second actuation levers 314, 316 are pivotable between a firstposition (FIG. 13A) and a second position (FIG. 13B). The first positionof first and second actuation levers 314, 316 corresponds to the openconfiguration of coupling assembly 300, and the second position of firstand second actuation levers 314, 316 corresponds to the closedconfiguration of coupling assembly 300.

During coupling and uncoupling of a surgical port to coupling assembly300 of mount assembly 100, first and second actuation levers 314, 316are pivoted into the first position, such that first and second arms310, 312 may pivot into the spaced apart position, and thus, couplingassembly 300 is transitioned into the open configuration (FIG. 13A). Inthe open configuration of coupling assembly 300, a surgical port may bepositioned between first and second arms 310, 312 and brought intoabutment with engagement portions 318, 320, respectively. With thesurgical port positioned between first and second arms 310, 312, andaligned with engagement portions 318, 320, first and second arms 310,312 may be pivoted into the approximated position, thereby positioningand affixing the surgical port therebetween in a clamping fashion. Withcoupling assembly 300 in the closed configuration (FIG. 13B), first andsecond actuation levers 314, 316 inhibit first and second arms 310, 312from pivoting into the spaced apart position, such that couplingassembly 300 is securely maintained in the closed configuration. Thus,in the closed configuration of coupling assembly 300, the surgical portis thereby affixed to mount assembly 100, and thus robot arm 2.

During uncoupling of a surgical port from coupling assembly 300, firstand second actuation levers 314, 316 are pivoted from the secondposition (FIG. 13B) towards the first position (FIG. 13A), therebypermitting first and second arms 310, 312 to pivot towards the spacedapart position, bringing coupling assembly 300 into the openconfiguration. With coupling assembly 300 in the open configuration, thesurgical port may be uncoupled from first and second arms 310, 312.

With reference to FIGS. 14A-15, in an embodiment, mount assembly 100includes a coupling assembly 400 configured to engage and selectivelyaffix a surgical port to mount assembly 100, and thus, robot arm 2.Coupling assembly 400 is supported at distal portion 109 of housing 110of mount assembly 100, and includes a latch 410 pivotably coupled tohousing 110. Latch 410 includes a hooked portion 412 configured toselectively engage or disengage with a portion of a surgical port, andan engagement portion 414 configured for user actuation such that latch410 pivots. Upon actuation of engagement portion 414 by a user, latch410 is caused to pivot about a pivot pin 411. More particularly, latch410 pivots between a first and second position, whereby hooked portion412 pivots into and out of an engagement with respect to a portion of asurgical port. Thus, coupling assembly 400 transitions between anengaged and disengaged configuration with respect to a surgical port,respectively.

Coupling assembly 400 may further include a biasing member 416 disposedbetween latch 410 and housing 110. Biasing member 416 is configured tobias latch 410 into one of the first or second positions, and moreparticularly, bias hooked portion 412 of latch 410 into or out ofengagement with respect to a portion of a surgical port. Further,coupling assembly 400 may include a latch lock 418 disposed betweenlatch 410 and housing 110. Latch lock 418 is configured to inhibit latch410 from pivoting about pivot pin 411, such that latch 410 is maintainedand secured in one of the first or second positions, which thereforemaintains and secures hooked portion 412 into or out of engagement withrespect to a surgical port.

During coupling and uncoupling of a surgical port with coupling assembly400, a portion of the surgical port is brought into proximity withhooked portion 412 of latch 410. Latch 410 is pivoted into the firstposition, such that hooked portion 412 is brought into engagement withthe portion of the surgical port, and the coupling assembly 400 istransitioned into the engaged configuration (FIGS. 14B and 15).Alternatively, a portion of the surgical port may be driven against thehooked portion 412 of latch 410, thus causing hooked portion 412 topivot into engagement therewith, thus transitioning coupling assembly400 into the engaged configuration. Latch lock 418 may be utilized tosecurely maintain latch 410 in the first position, hooked portion 412 inthe engaged position, and coupling assembly 400 in the engagedconfiguration.

During uncoupling of a surgical port from coupling assembly 400, latchlock 418 may be disengaged from latch 410, thus permitting latch 410 topivot about pivot pin 411. With latch 410 free to pivot, engagementportion 414 is actuated such that latch 410 pivots into the secondposition, hooked portion 412 pivots out of disengagement with respect toa portion of the surgical port, and coupling assembly 400 transitionsinto the disengaged configuration. Accordingly, the surgical port may beremoved and uncoupled from coupling assembly 400 of mount assembly 100,and thus robot art 2 (FIG. 14A).

With reference to FIGS. 2 and 3, mount assembly 100 may be furtherconfigured for a sterile drape 50 to enshroud or enclose a portionthereof, such that a sterile barrier is positioned and maintainedbetween mount assembly 100, coupling assemblies 120, 300, or 400associated therewith, and the surgical accessory coupled thereto.Sterile drape 50 is configured to enshroud or enclose all of or aportion of housing 110 of mount assembly 100, and/or all of or a portionof fixed or movable arms 122, 132 of coupling assembly 120; first andsecond arms 310, 312 of coupling assembly 300; and hooked portion 412 oflatch 410 of coupling assembly 400. Further, sterile drape 50 may bepositioned about mount assembly 100 in either the closed or openconfigurations of coupling assemblies 120 and 300. It is envisioned thatsterile drape 50 may define a flexible, deformable, or stretchablematerial, such that during actuation and operation of couplingassemblies 120, 300, and 400 the structural integrity of sterile drape50 is maintained, and further, that the actuation and operation ofcoupling assemblies 120, 300, and 400 are uninhibited by sterile drape50. Sterile drape 50 may include any biocompatible material as is knownin the art such that a sterile barrier is maintained, and may include,for example, an elastomer, a silicone, a polyethylene, apolyvinylechloride, a polyurethane, a polylactide, combinations thereof,and the like.

Turning now to FIGS. 16-29, embodiments of surgical ports in accordancewith the present disclosure will be discussed herein below. It should beappreciated that the following embodiments of surgical ports arecompatible with mount assembly 100 and one or more of couplingassemblies 120, 300, or 400. The surgical ports disclosed herein areconfigured to receive a surgical instrument “SI” therethrough; provideaccess into a patient cavity through either a natural orifice or anincision in tissue; maintain a fluidic seal between the patient cavityand the external environment, with or without a surgical instrument “SI”disposed through the surgical port; redirect and transfer externalforces exerted against or upon the surgical instrument “SI” to robot arm2, via mount assembly 100 resulting from the natural orifice or thesurrounding tissue of an incision; increase the load bearing capabilityupon the surgical port and/or surgical instrument “SI” withoutcompromising the fluidic seal integrity; provide mechanical lead-in forautomated insertion of un-supported surgical instruments “SI”therethrough; work collaboratively with surgical drape 50 and the like;provide a minimal footprint to minimize obstruction of the surgicalfield; and/or provide expeditious coupling and uncoupling to robot arm2, via mount assembly 100, and the corresponding coupling assemblies120, 300, and 400.

With reference to FIGS. 16-20, an embodiment of a surgical port 1000includes a seal housing 1100, a seal assembly 1200, a seal cover 1300, acannula seal 1400, and a cannula assembly 1500. An interior surface ofeach of seal housing 1100, seal cover 1300, and cannula assembly 1500define a central lumen 1002 of surgical port 1000. Central lumen 1002 isconfigured to receive a portion of surgical instrument “SI”therethrough, such that a distal portion of surgical instrument “SI” mayaccess an internal body cavity, as described herein. For a more detaileddescription of a similar surgical port, reference can be made to U.S.Pat. No. 5,807,338, the entire contents of which are incorporated byreference herein.

As discussed below, mount assembly 100 is configured to selectivelyengage with, and affix to a portion of seal housing 1100, such thatsurgical port 1000 is thereby affixed to mount assembly 100, and thusrobot arm 2. Seal housing 1100 is couplable to seal cover 1300, wherebyseal assembly 1200 is coupled therebetween. Seal cover 1300 is couplableto cannula assembly 1500, whereby cannula seal 1400 is coupledtherebetween. For further discussion of the construction and operationof surgical port 1000, and surgical ports similar thereto, reference maybe made to U.S. Pat. No. 5,603,702, filed on Aug. 8, 1994 and entitled“Valve System for Cannula Assembly,” the entire content of which isincorporated herein by reference.

With reference to FIGS. 16-18, surgical port 1000 is configured forexpeditious and secure fixation with mount assembly 100. Moreparticularly, seal housing 1100 of surgical port 1000 is configured forsecure fixation with coupling assemblies 120, 300 of mount assembly 100.In an embodiment, seal housing 1100 includes an engagement region 1120disposed about an external radial surface thereof, where engagementregion 1120 includes a plurality of ribs 1122 disposed thereon.Engagement region 1120 is configured to mate with engagement portions126, 136 of fixed and movable arms 122, 132 of coupling assembly 120, orengagement portions 318, 320 of first and second arms 310, 312 ofcoupling assembly 300. More particularly, engagement region 1120,together with ribs 1122, are configured to correspond to an outerprofile of engagement portions 126, 136 of fixed and movable arms 122,132 of coupling assembly 120, and/or engagement portions 318, 320 offirst and second arms 310, 312 of coupling assembly 300, such thatabutment and fixation therebetween may be achieved. It should beappreciated that the generally circular cross-sectional profile ofengagement region 1120, and the corresponding arcuate profile of fixedand movable arms 122, 132, and first and second arms 310, 312, providesurgical port 1000 with a rotational degree of freedom, about alongitudinal axis defined along central lumen 1002.

As coupling assemblies 120, 300 transition from the open configuration(FIG. 10A) to the closed configuration (FIGS. 3, 9A, and 18), engagementportions 126, 136 of coupling assembly 120 and engagement portions 318,320 of coupling assembly 300 come into abutment with and clamp aboutengagement region 1120 of seal housing 1100. A ramped surface 1124 ofeach respective rib 1122 aids, guides, and directs engagement portions126, 136 and engagement portions 318, 320 into secure fixation withengagement region 1120 of seal housing 1100. More specifically, rampedsurface 1124 provides a lead-in geometry for orientation and alignmentduring fixation of seal housing 1100 and mount assembly 100.Accordingly, with coupling assemblies 120, 300 in the closedconfiguration, fixed and movable arms 122, 132 of coupling assembly 120,and first and second arms 310, 312 of coupling assembly 300, may beaccurately aligned with, and securely affixed to, engagement region 1120of seal housing 1100.

In further embodiments, seal housing 1100 of surgical port 1000 mayinclude a chamfered surface 1130 disposed along an interior surface 1132of seal housing 110, whereby interior surface 1132 delineates a proximalportion 1004 of central lumen 1002 of surgical port 1000 from a distalportion thereof. Chamfered surface 1130 is configured to facilitateinsertion (e.g., manual and/or automated) of surgical instruments “SI”through central lumen 1002 of surgical port 1002. More particularly,during insertion of surgical instrument “SI” through central lumen 1002of surgical port 1000, as a distal portion of surgical instrument “SI”approximates seal housing 1100, a distal end of surgical instrument “SI”may come into abutment with, and ride along, chamfered surface 1130. Assurgical instrument “SI” rides along chamfered surface 1130, surgicalinstrument “SI” is directed into and through central lumen 1002, suchthat chamfered surface 1130 serves as a lead-in geometry to assist andfacilitate alignment and orientation of surgical instrument “SI” throughcentral lumen 1002 of surgical port 1000.

As should be appreciated, with a distal portion 1504 of cannula assembly1500 positioned within a cavity of a patient, central lumen 1002 ofsurgical port 1000 creates a pathway for the passage of surgicalinstruments “SI” therethrough. During such a procedure, seal assembly1200 and cannula seal 1400 act as a fluidic seal to maintain theinternal pressures of the cavity of a patient. Further still, sealassembly 1200 and cannula seal 1400 are configured as one-way valves ofcentral lumen 1002, such that internal pressure of the cavity ismaintained whether a surgical instrument “SI” is positioned withincentral lumen 1002, or absent therefrom. More particularly, each of sealassembly 1200 and cannula seal 1400 are configured to deform as asurgical instrument “SI” is passed therethrough, and positioned withincentral lumen 1002, such that each of seal assembly 1200 and cannulaseal 1400 create a fluid tight seal about a portion of the surgicalinstrument “SI”. Seal assembly 1200 and/or cannula seal 1400 may befabricated from a resilient material, e.g., rubber, where seal assembly1200 may include one or more layers of resilient material and cannulaseal 1400 may generally define a duck bill shape. As discussed furtherbelow, surgical port 1000 is configured to create and maintain a robustfluid tight seal within central lumen 1002, between seal assembly 1200and cannula seal 1400, between seal cover 1300 and cannula assembly1500, and between a surgical instrument “SI” inserted therein.

With reference to FIGS. 19 and 20, with respect to the engagement andcoupling of seal cover 1300 and cannula assembly 1500, a distal portion1302 of seal cover 1300 is configured to couple with a proximal portion1502 of cannula assembly 1500, such that a secure and fluid tight sealis maintained therebetween. In an embodiment, distal portion 1302 ofseal cover 1300 includes a plurality of lobes 1310, where eachrespective lobe 1310 defines a key feature 1312 thereon. In anembodiment, and as illustrated in FIGS. 18 and 19, seal cover 1300 mayinclude three lobes 1310 radially disposed about distal portion 1302 ofseal cover 1300. It is envisioned that lobes 1310 may be equallyradially disposed about the distal portion 1302 of seal cover 1300.

In such an embodiment, cannula assembly 1500 includes a plurality of keyfeatures 1512 radially disposed about, and extending from proximalportion 1502. Each respective key feature 1512 is configured to engagewith and couple to a respective key feature 1312 of lobe 1310 of sealcover 1300. It is envisioned that key features 1512 may be equallyradially disposed about the proximal portion 1502 of cannula assembly1500 and/or configured to correspond to the position of key feature 1312of seal cover 1300. As should be appreciated, with distal portion 1302of seal cover 1300 in abutment with proximal portion 1502 of cannulaassembly 1500, key feature 1312 of seal cover 1300 is brought intoabutment with key feature 1512 of cannula assembly 1500. Rotation ofseal cover 1300 or cannula assembly 1500, with respect to the other,engages respective key features 1312, 1512, such that seal cover 1300and cannula assembly 1500 are thereby securely affixed. With seal cover1300 and cannula assembly 1500 securely affixed, cannula seal 1400 isthereby securely disposed therebetween in a fluid tight arrangement.

With reference to FIGS. 21-22B, in another embodiment of surgical port1000, surgical port 1000 includes seal housing 1100, seal assembly 1200,a seal cover 2300, cannula seal 1400, and cannula assembly 2500. Sealcover 2300 and cannula assembly 2500 include similar features to that ofseal cover 1300 and cannula assembly 1500, respectively, and therefore,for the sake of brevity and clarity only distinctions will be discussedherein below.

With respect to the engagement and coupling of seal cover 2300 andcannula assembly 2500, a distal portion 2302 of seal cover 2300 isconfigured to couple with a proximal portion 2502 of cannula assembly2500, such that a secure and fluid tight seal is maintainedtherebetween. Distal portion 2302 of seal cover 2300 includes at leastone engagement region 2310 disposed radially about distal portion 2302,and proximal portion 2502 of cannula assembly 2500 includes at least oneengagement cavity 2512 disposed radially about proximal portion 2502. Arespective engagement region 2310 of seal cover 2300 is configured to bereceived within, and engage by, a corresponding engagement cavity 2512of cannula assembly 2500. With engagement region 2310 and engagementcavity 2512 securely coupled, seal cover 2300 and cannula assembly 2500thereby fluidly seal cannula seal 1400 therebetween.

More particularly, and with reference to FIGS. 22A and 22B, engagementregion 2310 of seal cover 2300 includes opposing channels 2312 extendingproximally from distal portion 2302, and a base 2314 definedtherebetween. Each channel 2312 is laterally offset from, and parallelto, one another, where channels 2312 are positioned on opposing sides ofbase 2314. Cannula assembly 2500 includes opposing flanges 2514 disposedat, and extending radially inward from, proximal portion 2502, whereopposing flanges 2514 are disposed on either side of engagement cavity2512.

During coupling of seal cover 2300 and cannula assembly 2500, engagementcavity 2512 of cannula assembly 2500 is configured to receive base 2314of engagement region 2310 of seal cover 2300, whereas opposing flanges2514 of cannula assembly 2500 are configured to be received within, andengaged by, opposing channels 2312 of engagement region 2310 of sealcover 2300. Accordingly, abutment between, and engagement of, engagementcavity 2512 and base 2314, and opposing flanges 2514 and opposingchannels 2312, securely couple and affix seal cover 2300 and cannulaassembly 2500.

With reference to FIGS. 23-27, in another embodiment of surgical port1000, surgical port 1000 includes a seal housing 3100, seal assembly1200, seal cover 1300 or seal cover 2300, cannula seal 1400, cannulaassembly 1500 or cannula assembly 2500, and an adapter shell 3600. Sealhousing 3100 includes similar features to that of seal housing 1100, andtherefore, for the sake of brevity and clarity only distinctions will bediscussed herein below. Further still, for the sake of brevity, sealhousing 3100 will be discussed with reference to seal cover 1300.

Seal housing 3100 includes a flange 3102 extending radially outward froma distal portion 3104 thereof. With seal housing 3100 coupled to sealcover 1300, flange 3102 is configured to extend radially beyond an outersurface 1330 of seal cover 1300, such that flange 3102 of seal housing3100 defines an outer diameter which is larger than an outer diameter ofseal cover 1300.

Adapter shell 3600 includes a first half 3602 and a second half 3604configured to selectively engage one another, such that first and secondhalves 3602, 3604 may be affixed to one another. Each of first andsecond halves 3602, 3604 includes an intermediate lip 3608 and a distallip 3612. Intermediate lip 3608 is defined radially about, and extendinginward from, an inner surface 3610 of each of first and second halves3602, 3604. Distal lip 3612 is disposed at a distal portion 3614 offirst and second halves 3602, 3604, and extends radially about at leasta portion of inner surface 3610 and extends radially inward therefrom.When affixed, first and second halves 3602, 3604 define a cavity 3606therebetween. Cavity 3606 is configured to receive a portion of surgicalport 1000, and more specifically, is configured to enclose seal housing3100 and seal cover 1300.

With adapter shell 3600 positioned around seal housing 3100 and sealcover 1300, flange 3102 of seal housing 3100 provides a landing surfacefor each of first and second halves 3602, 3604 of adapter shell 3600. Aportion of flange 3102 of seal housing 3100 comes into abutment withintermediate lip 3608 of first and second halves 3602, 3604. Further,distal lip 3612 comes into engagement with a lip recess 1506 defined onproximal portion 1502 of cannula assembly 1500 (FIG. 25). As a result ofthe abutment between flange 3102 of seal housing 3100 and intermediatelip 3608 of adapter shell 3600, and the engagement between distal lip3612 of adapter shell 3600 and lip recess 1506 of cannula assembly 1500,linear movement and/or uncoupling of seal housing 3100 with respect tocannula assembly 1500 is thereby inhibited, and thus, seal housing 3100and seal cover 1300 may be securely coupled. Further still, by reducinga distance or gap between intermediate lip 3608 and distal lip 3612,once adapter shell 3600 is disposed about and coupled to seal housing3100 and cannula assembly 1500, intermediate and distal lips 3608, 3612of adapter shell 3600 may provide linear compression between sealhousing 3100 and cannula assembly 1500, such that coupling therebetweenis thereby enhanced.

With reference to FIGS. 13A, 13B, 23, and 27, first and second halves3602, 3604 of adapter shell 3600 further include an engagement region3620 disposed about an external surface 3622 thereof. Engagement region3620 is configured to mate with engagement portions 126, 136 of fixedand movable arms 122, 132 of coupling assembly 120, or engagementportions 318, 320 of first and second arms 310, 312 of coupling assembly300. More particularly, engagement region 3620 and engagement portions126, 136 of fixed and movable arms 122, 132 of coupling assembly 120,and/or engagement portions 318, 320 of first and second arms 310, 312 ofcoupling assembly 300, are configured to define corresponding profilessuch that abutment and fixation therebetween may be achieved. It shouldbe appreciated that the generally circular cross-sectional profile ofengagement region 3620, and the corresponding arcuate profile of fixedand movable arms 122, 132, and first and second arms 310, 312, providesurgical port 1000 with a rotational degree of freedom, about alongitudinal axis defined along central lumen 1002.

As coupling assemblies 120, 300 transition from the open configuration(FIGS. 10A and 13A) to the closed configuration (FIGS. 9A, 13B, and 27),engagement portions 126, 136 of coupling assembly 120, and engagementportions 318, 320 of coupling assembly 300, come into abutment with andclamp about engagement region 3620 of adapter shell 3600. Accordingly,with coupling assemblies 120, 300 in the closed configuration, fixed andmovable arms 122, 132 of coupling assembly 120, and first and secondarms 310, 312 of coupling assembly 300, are aligned with, and securelyaffixed to, engagement region 3620 of adapter shell 3600, and thus,surgical port 1000 may be affixed to mount assembly 100 and robot arm 2.

With reference to FIGS. 28 and 29, in another embodiment of surgicalport 1000, surgical port 1000 includes seal housing 1100 or seal housing3100, seal assembly 1200, seal cover 1300 or seal cover 2300, cannulaseal 1400, cannula assembly 1500 or cannula assembly 2500, and a mountadapter 4100. For the sake of brevity and clarity, mount adapter 4100will be discussed herein with reference to seal housing 1100, sealassembly 1200, seal cover 1300, cannula seal 1400, and cannula assembly1500.

Mount adapter 4100 is configured to couple between seal cover 1300 andcannula assembly 1500, and provides an alternative method of selectivelycoupling surgical port 1000 to mount assembly 100, as discussed furtherbelow. Mount adapter 4100 includes a body 4110 defining a through-hole4112, a release tab 4130 extending from a perimeter 4111 of body 4110,and an engagement region 4140 extending from perimeter 4111 of body4110. It is envisioned that mount adapter 4100 may further include amount adapter seal assembly (not shown) disposed within through-hole4112 and configured to receive a surgical instrument “SI” therethrough.In such an embodiment, the mount adapter seal assembly may include, forexample, a captive seal, configured to maintain internal fluidicpressures of the patient's body cavity with, or without surgicalinstrument “SI” present.

Body 4110 of mount adapter 4100 includes an inner surface 4114 definingthrough-hole 4112, a flange 4116 disposed about a distal portion 4118 ofinner surface 4114 and extending radially inward therefrom, and acoupling feature 4120 disposed along flange 4116. During coupling, sealhousing 1100 and seal cover 1300 are positioned within through-hole 4112of body 4110 of mount adapter 4100, proximal of flange 4116, such thatdistal portion 1302 of seal cover 1300 is brought into abutment withflange 4116 of body 4110. Distal portion 1302 of seal cover 1300 isconfigured to engage and couple with coupling feature 4120. In anembodiment, seal cover 1300 may be coupled to coupling feature 4120 offlange 4116 in a similar manner as when coupling seal cover 1300 andcannula assembly 1500 (e.g., key feature 1312 of lobe 1310 of seal cover1300 is brought into abutment to, and coupled with, key feature 1512 ofcannula assembly 1500, as discussed above, whereas coupling feature 4120of adapter mount 4100 defines a similar coupling feature to that of keyfeature 1512 of cannula assembly 1500).

With seal housing 1100 and seal cover 1300 coupled to mount adapter4100, a distal portion 4122 of body 4110 of mount adapter 4100 may becoupled to proximal portion 1502 of cannula assembly 1500. Moreparticularly, a distal coupling feature 4124 radially disposed aboutdistal portion 4122 of body 4110 is configured to engage and couple withproximal portion 1502 of cannula assembly 1500. It should be appreciatedthat distal coupling feature 4124 of mount adapter 4100 may engage andcouple with cannula assembly 1500 in a similar manner as seal cover 1300and cannula assembly 1500, as discussed above.

During uncoupling of seal cover 1300 from mount adapter 4100, releasetab 4130 may be actuated such that distal portion 1302 of seal cover1300 and coupling feature 4120 of mount adapter 4100 are therebydisengaged. With seal cover 1300 and mount adapter 4100 disengaged, sealcover 1300 may be withdrawn from through-hole 4112 of mount adapter4100. In a similar manner, mount adapter 4100 may be uncoupled fromcannula assembly 1500. More particularly, a release tab 1508 disposedabout the proximal portion 1502 of cannula assembly 1500 (FIGS. 28 and29) may be articulated, thereby disengaging the distal coupling feature4124 from the proximal portion 1502 of cannula assembly 1500.

With reference to FIGS. 14A-15, 28, and 29, engagement region 4140 ofmount adapter 4100 includes a frame 4142 and a cavity 4144 definedtherethrough. Cavity 4144 is configured to receive, while frame 4142 isconfigured to engage, hooked portion 412 of latch 410 of couplingassembly 400 of mount assembly 100. More particularly, and as discussedabove in more detail with respect to coupling assembly 400 of mountassembly 100, during coupling of mount adapter 4100 and couplingassembly 400, hooked portion 412 of latch 410 pivots into cavity 4144 ofengagement region 4140 and into engagement with frame 4142 (FIGS. 14Band 15). With frame 4142 pivotally coupled to seal and cannulaassemblies 1200, 1500 disposed therethrough such that engagement region4140 may be coupled to robot arm 2, port 1000 can rotate around theinsertion axis (e.g., single degree of freedom). During uncoupling ofmount adapter 4100 and coupling assembly 400, hook portion 412 of latch410 pivots out of engagement with frame 4142 and out of cavity 4144(FIG. 14A).

Mount adapter 4100 may further include a contact sensor 4150 disposed onbody 4110. In an exemplary embodiment, contact sensor 4150 is disposedon or within frame 4142 of engagement region 4140. Contact sensor 4150is configured for communication with communication assembly 200 of mountassembly 100, as discussed in further detail above, and may mechanicallyengage presence sensor switch 230 and/or wirelessly communicate withpresence sensor switch 230 or communication assembly 200. Contact sensor4150, together with communication assembly 200, provides work station 1with an indication regarding the presence, or absence of mount adapter4100 of surgical port 1000, with respect to coupling assembly 400 ofmount assembly 100, and may further provide an indication of incorrect,partial, or misaligned mounting therebetween.

In an embodiment configured for mechanical communication, as latch 410pivots and hooked portion 412 engages engagement region 4140, latch 410may be configured to depress or otherwise close or contact presencesensor switch 230, indicating the presence of mount adapter 4100therewith. In an embodiment configured for non-contact or wirelesscommunication, contact sensor 4150 of mount adapter 4100 may beconfigured for wireless communication with communication assembly 200 byany wireless communication method as is known in the art, such as, forexample, magnetic registration, BlueTooth, ZigBee, near fieldcommunication (NFC), WiFi, or the like. In such an embodiment, oncemount adapter 4100 is coupled with coupling assembly 400 of mountassembly 100, contact sensor 4150 is thereby brought into closeproximity to communication assembly 200 of mount assembly 100. Withcontact sensor 4150 in close proximity to communication assembly 200,contact sensor 4150 may be wirelessly registered by communicationassembly 200, and thus, the presence of mount adapter 4100 may bedetermined and communicated to work station 1.

Mount adapter 4100 may be constructed from any biocompatible material asis known in the art, and may be configured to be a disposable-single usedevice, or capable of withstanding sterilization for reuse. Furtherstill, mount adapter 4100, and more particularly engagement region 4140of mount adapter 4100, may be further configured to cooperatively actwith sterile drape 50. In such an embodiment, sterile drape 50 may bepositioned between engagement region 4140 and coupling assembly 400prior to coupling, whereby hooked portion 412 of latch 410 of couplingassembly 400 deforms sterile drape 50, or is otherwise uninhibited fromengaging frame 4142 of engagement region 4140. It should be appreciatedthat during coupling, engagement region 4140, hooked portion 412 oflatch 410, and sterile drape 50 are configured to inhibit a breach,tear, or compromise of the integrity of sterile drape 50, such that thesterile barrier therebetween may be maintained.

With reference to FIGS. 1-29, a kit in accordance with the presentdisclosure may include one or more mount assemblies 100 having any ofcoupling assemblies 120, 300, or 400. In an embodiment, the kit furtherincludes at least one surgical accessory, such as, for example, surgicalport 1000, a trocar, or an illumination device. Further, the kit mayadditionally or alternatively include at least one mount adapter 4100.Further still, in an embodiment, the kit includes at least one surgicalinstrument, such as, for example, an obturator, a pair of jaw members,electrosurgical forceps, cutting instruments, or any other endoscopic oropen surgical devices. The kit may additionally include Instructions forUse (“IFU”), which provides a clinician with instructions regarding thecoupling and uncoupling of mount assembly 100, and/or assembly ordisassembly of surgical port 1000.

Turning now to FIG. 30, another embodiment of a mount assembly,generally referred to as 100′ is similar to mount assembly 100, butincludes a housing 110′ having a proximal portion 112′ and distalportion 114′. Housing 110′ may be wholly or partially formed of anysuitable insulative or dielectric material such a polymeric material toelectrically isolate a patient from at least portions of a medical workstation (e.g., instrument drive unit, robotic arms, etc.). For example,proximal portion 112′ may include a conductive material such as anysuitable metallic material and distal portion 114′ may include apolymeric material such as rubber or the like. Advantageously, if distalportion 114′ of housing 110′ contacts a patient during use (e.g., if thepatient has a return pad or other device that acts as an electrode), theinsulative material of distal portion 114′ prevents electricalcommunication between the patient and the insulative material. Mountassembly 100′ includes an isolation chip 116′ that can similarlyfunction to electrically isolate one or more electrical components ofthe medical work station. For example, isolation chip 116′ may beelectrically coupled to a communication assembly supported withinhousing 110′ (and which may be similar to communication assembly 200)(see, e.g., FIG. 4).

It will be understood that various modifications may be made to theembodiments disclosed herein. Therefore, the above description shouldnot be construed as limiting, but merely as exemplifications of variousembodiments. Those skilled in the art will envision other modificationswithin the scope and spirit of the claims appended thereto.

1-12. (canceled)
 13. A mount assembly for use with a robotic system, themount assembly comprising: a coupling assembly including a first arm anda second arm, the coupling assembly transitionable between open andclosed configurations, wherein in the open configuration the first armis relatively more spaced apart from the second arm to receive asurgical device therebetween, and in the closed configuration the firstarm is relatively more approximated to the second arm to secure asurgical device therebetween; a latch plate operably coupled to thecoupling assembly and movable between a first position and a secondposition, wherein in the first position the first arm is locked in placerelative to the second arm, and in the second position the first arm ismovable relative to the second arm; and a release assembly operablycoupled to the latch plate and configured to transition between a lockedconfiguration and an unlocked configuration to move the latch platebetween the first position and the second position.
 14. The mountassembly of claim 13, wherein the latch plate includes an engagement pinand the release assembly is coupled to the engagement pin of the latchplate.
 15. The mount assembly of claim 13, wherein the latch plate ispivotably coupled to the first arm.
 16. The mount assembly of claim 13,wherein linear movement of the release assembly causes the latch plateto pivot relative to the first arm.
 17. The mount assembly of claim 13,further comprising a communication assembly configured for communicationwith the robotic system with respect to: a status of the couplingassembly corresponding to the open and closed configuration thereof; anda status of the release assembly corresponding to the locked andunlocked configuration thereof.
 18. The mount assembly of claim 17,wherein the communication assembly includes a release assembly sensorswitch configured for selective engagement with the release assembly,wherein when the release assembly transitions to the lockedconfiguration the release assembly sensor switch is engaged.
 19. Themount assembly of claim 17, wherein the communication assembly includes:a button pivotably disposed within a cavity of the second arm of thecoupling assembly, the button configured for engagement by a surgicalport secured between first and second arms of the coupling assembly; anda presence sensor switch configured for selective engagement with thebutton, wherein when the button is engaged by the surgical port thebutton pivots into engagement with the presence sensor switch.
 20. Themount assembly of claim 13, wherein, in the locked configuration of therelease assembly, a protrusion of the latch plate is engaged with aportion of the first arm of the coupling assembly; and wherein, in theunlocked configuration of the release assembly, the protrusion of thelatch plate is disengaged from the portion of the first arm of thecoupling assembly.
 21. The mount assembly of claim 13, wherein thecoupling assembly includes a biasing member coupled between the firstand second arms, the biasing member configured to bias the couplingassembly into one of the open or closed configurations.
 22. The mountassembly of claim 13, wherein the first arm of the coupling assembly ispivotably coupled to a portion of the second arm, and the second arm isfixed in position.
 23. The mount assembly of claim 13, wherein the firstand second arms are pivotable relative to each other.
 24. The mountassembly of claim 13, wherein the release assembly includes a biasingmember configured to bias the release assembly into one of the locked orunlocked configurations.
 25. The mount assembly of claim 13, wherein therelease assembly includes a first actuation lever coupled to the firstarm of the coupling assembly and a second actuation lever coupled to thesecond arm of the coupling assembly, the first and second actuationlevers configured to transition the first and second arms of thecoupling assembly between the open and closed configurations, and thelocked and unlocked configurations.
 26. The mount assembly of claim 13,wherein each of the first and second arms includes an engagement regionthereon configured to engage a surgical port while in the closedconfiguration of the coupling assembly, the engagement regions of thefirst and second arms defining a complementary shape with respect to anouter surface of a surgical port.
 27. The mount assembly of claim 26,wherein each of the engagement regions defines an inner surface andincludes a flange extending therefrom, the flange being configured toengage a portion of a surgical port while in the closed configuration ofthe coupling assembly.
 28. A robotic system comprising: a mount assemblyconfigured to couple to a robot arm of the robotic system, the mountassembly including: a coupling assembly including a first arm and asecond arm, the coupling assembly transitionable between open and closedconfigurations, wherein in the open configuration the first arm isrelatively more spaced apart from the second arm, and in the closedconfiguration the first arm is relatively more approximated to thesecond arm; a latch plate operably coupled to the coupling assembly andmovable between a first position and a second position, wherein in thefirst position the first arm is locked in place relative to the secondarm, and in the second position the first arm is movable relative to thesecond arm; and a release assembly operably coupled to the latch plateand configured to transition between a locked configuration and anunlocked configuration to move the latch plate between the firstposition and the second position; and a surgical port configured toreceive a surgical instrument therethrough, the surgical port configuredto couple to the coupling assembly of the mount assembly.
 29. Therobotic system of claim 28, wherein the surgical port includes: a sealhousing having an engagement region disposed about an external radialsurface thereof; a seal cover having a plurality of lobes radiallydisposed along a distal portion thereof, each lobe of the plurality oflobes including a key feature thereon; a cannula assembly having aplurality of key features radially disposed along a proximal portionthereof, each respective key feature of the cannula assemblycorresponding to, and configured to engage with, a key feature of arespective lobe of the plurality of lobes of the seal cover, wherein thesurgical port includes a central lumen defined by an inner surface ofeach of the seal housing, the seal cover, and the cannula assembly; aseal assembly coupled between the seal housing and the seal cover; and acannula seal coupled between the seal cover and the cannula assembly,the seal assembly and the cannula seal configured to maintain a fluidicseal within the central lumen of the surgical port.
 30. The roboticsystem of claim 28, wherein the mount assembly further includes acommunication assembly configured for communication with the roboticsystem and including: a release assembly sensor switch configured forselective engagement with the release assembly, wherein when the releaseassembly transitions to the locked configuration the release assemblysensor switch is engaged; a button pivotably disposed within a cavity ofthe second arm of the coupling assembly, the button configured forengagement by a surgical port secured between first and second arms ofthe coupling assembly; and a presence sensor switch configured forselective engagement with the button, wherein when the button is engagedby the surgical port the button pivots into engagement with the presencesensor switch.
 31. A mount assembly for use with a robotic system, themount assembly comprising: a housing configured to couple to a robot armof a robotic system; a coupling assembly including a first arm and asecond arm extending from the housing, the first arm movable relative tothe housing and the second arm fixedly supported by the housing, thecoupling assembly transitionable between open and closed configurations,wherein in the open configuration the first arm is relatively morespaced apart from the second arm to receive a surgical devicetherebetween, and in the closed configuration the first arm isrelatively more approximated to the second arm; a latch plate operablycoupled to the coupling assembly and movable between a first positionand a second position, wherein in the first position the first arm islocked in place relative to the second arm, and in the second positionthe first arm is movable relative to the second arm; and a releaseassembly operably coupled to the latch plate and configured totransition between a locked configuration and an unlocked configurationto move the latch plate between the first position and the secondposition.
 32. The mount assembly of claim 31, further comprising acommunication assembly configured to communicate a status of at leastone of the coupling assembly or the release assembly to the roboticsystem.